The sets \(\lbrace \mathcal {C}_i\rbrace _{i=0:m}\)  serve as one type of safety constraints, e.g., each set can be a corner connecting two corridors such that the UAV must pass through the set to ensure safety. (The usage of Bernstein polynomials can characterize the corridors as safety sets [1]}, [2]}, which is out of the scope of this paper and will not be discussed.)
